From a1d45c885fc90c66500e1dc1562088d285cad337 Mon Sep 17 00:00:00 2001 From: Ivan Nikolic Date: Fri, 26 Dec 2025 12:14:29 +0800 Subject: [PATCH] odom ts parsing --- dimos/robot/unitree_webrtc/type/odometry.py | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/dimos/robot/unitree_webrtc/type/odometry.py b/dimos/robot/unitree_webrtc/type/odometry.py index e939022ef9..345631f346 100644 --- a/dimos/robot/unitree_webrtc/type/odometry.py +++ b/dimos/robot/unitree_webrtc/type/odometry.py @@ -18,6 +18,7 @@ from dimos.robot.unitree_webrtc.type.timeseries import ( Timestamped, ) +from dimos.types.timestamped import to_timestamp raw_odometry_msg_sample = { "type": "msg", @@ -95,10 +96,7 @@ def from_msg(cls, msg: RawOdometryMessage) -> "Odometry": pose["orientation"].get("w"), ) - # ts = to_timestamp(msg["data"]["header"]["stamp"]) - # lidar / video timestamps are not available from the robot - # so we are deferring to local time for everything - ts = time.time() + ts = to_timestamp(msg["data"]["header"]["stamp"]) return Odometry(position=pos, orientation=rot, ts=ts, frame_id="world") def __repr__(self) -> str: